Robust Magnetic Fingerprint Positioning in Complex Indoor Environments Using Res-T-LSTM.

With the increasing demand for indoor location-based services, magnetic-fingerprint-based positioning has emerged as a promising complementary solution in scenarios lacking WiFi coverage. However, the dynamic nature of indoor environments, architectural complexity, and variations in pedestrian walking speeds can lead to stretching, compression, and distortion of magnetic fingerprint sequences, making it challenging for traditional sequence-matching algorithms to maintain stable positioning performance. To address these challenges, this paper proposes a magnetic-fingerprint-based positioning model that integrates residual networks (ResNet), transformer, and LSTM, referred to as Res-T-LSTM. Within the overall architecture, the ResNet module extracts deep local spatial features of magnetic fingerprints, and its residual connections effectively mitigate gradient attenuation during deep network training. The transformer module leverages self-attention mechanisms to model long-range dependencies and global contextual information, adaptively emphasizing key magnetic variations to enhance the discriminability of the feature representations. The LSTM module further captures the dynamic temporal evolution of magnetic sequences, improving robustness to variations in walking speed and sequence stretching or compression. Experimental results show that the proposed model achieves excellent performance across four smartphone-carrying postures, yielding an average positioning error of 0.21 m.